System and Method for Machine Guidance Control

ABSTRACT

System and method for providing guidance control for machines. In one embodiment, a method includes detecting an implement, by a guidance controller, coupled to a machine. The method may further include determining a characteristic of the implement which affects a control setting of the machine, configuring the control setting of the machine by the guidance controller based, at least in part, on the characteristic of the implement and controlling operation of the machine based on the control setting.

FIELD OF THE INVENTION

The present invention relates in general to machine guidance and moreparticularly to a system and method for providing guidance control formachines.

BACKGROUND

Conventional global positioning systems can be used to providenavigation information. Some prior-art systems provide turn-by-turndirections and real-time driving information to operators of vehicles.However, direction data and driving information provided by thesesystems is typically restricted to road applications. As such, thesesystems typically do not provide information for applications which arenot associated with an established roadway. Further, these systems maybe limited in their abilities to guide different types of vehicles. Inaddition, such systems do not provide a high level of detail forguidance of a machine. Operation of some machines can require detailedguidance information. For example, machines which employ one or moreimplements. The prior-art systems for machine guidance typically do notaddress implements or attachments to machines. As a result, suchguidance systems are limited in their ability to provide operationalinformation to an operator.

Other prior-art systems provide guidance data for applications not basedon established roadways. These conventional guidance systems do notaccount for operation and actuation of implements coupled to themachine. For agricultural and construction machines, operation may berequired in many types of terrains and areas of varying topography. Theconventional guidance systems do not address a location of the machinefor guidance or operation. Accordingly, there is a need to configureguidance controllers to address machine configurations.

BRIEF SUMMARY OF THE INVENTION

Disclosed and claimed herein are a system and method for providingguidance control for machines. In one embodiment, a method includesdetecting an implement, by a guidance controller, coupled to a machine.The method further includes determining a characteristic of theimplement which affects a control setting of the machine, configuringthe control setting of the machine by the guidance controller based, atleast in part, on the characteristic of the implement, and controllingoperation of the machine and the implement based on the control setting.

Other aspects, features, and techniques of the invention will beapparent to one skilled in the relevant art in view of the followingdetailed description of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts a simplified system diagram according to one or moreembodiments of the invention;

FIG. 2 depicts another embodiment of the system of FIG. 1;

FIG. 3 depicts a simplified block diagram of a guidance controlleraccording to one embodiment of the invention;

FIG. 4 depicts a process according to one or more embodiments of theinvention;

FIG. 5 depicts a process according to one or more embodiments of theinvention;

FIG. 6 depicts a process according to one or more embodiments of theinvention;

FIG. 7 depicts a process according to one or more embodiments of theinvention;

FIG. 8 depicts a graphical representation of operational paths accordingto one or more embodiments of the invention;

FIG. 9 depicts a graphical representation of a guidance controlleraccording to one or more embodiments of the invention; and

FIG. 10 depicts a graphical representation of guided machine controlaccording to one or more embodiments of the invention.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS

One aspect of the present invention is directed to configuring guidancecontrollers for machines. In one embodiment, a guidance controller maybe configured to provide guidance control for a machine based on one ormore parameters. In another embodiment, a process may be provided toconfigure one or more calibration parameters of a guidance controller.According to another embodiment, calibration parameters may be based, atleast in part, on an implement attached to the machine. In that fashion,implement specific information may be employed by a guidance system toprovide control information. According to another embodiment, one ormore implement characteristics may be employed to configure a controlsetting of a machine. For example, a guidance controller may beconfigured for a control device for operating the machine, compensatingmachine movement, operating an implement attached to the machine and/orpositioning an implement attached to the machine. In another embodiment,a guidance controller may be configured based on a characteristic of amachine. By way of example, a guidance controller may be configuredbased on one of front wheel steering and rear wheel steering for themachine. To that end, a guidance controller can be configured to guidemachine operation based on one or more of machine characteristics andimplements coupled to the machine.

According to another embodiment, a system may be provided for machineguidance. The system may include a guidance controller and a machine. Inone embodiment, the guidance controller may be configured to provide atleast one of operational data for the machine and automated operation ofthe machine. In certain embodiments, the guidance controller mayinteroperate with a data communications network and/or global positionsource to provide data to an operator. The guidance controller may be incommunication with the machine and one or more implements associatedwith the machine. In certain embodiments, the guidance controller canconfigure one or more parameters of the guidance controller based on animplement and/or the machine. In another embodiment, the guidancecontroller may be configured to detect implements and machines which theguidance controller is interoperating with.

According to another aspect of the invention, a guidance controller maybe configured based, at least in part, on a location a machine isoperating. A location associated with the machine may require aparticular configuration. Characteristics of the location may beemployed for configuration of one or more guidance parameters of theguidance controller. Based on location characteristics of the machine,configuration parameters and/or control settings may be adjusted.

When implemented in software, the elements of the invention areessentially the code segments to perform the necessary tasks. Theprogram or code segments can be stored in a processor readable medium.The “processor readable medium” may include any medium that can store ortransfer information. Examples of the processor readable medium includean electronic circuit, a semiconductor memory device, a ROM, a flashmemory or other non-volatile memory, a floppy diskette, a CD-ROM, anoptical disk, a hard disk, a fiber optic medium, etc. The code segmentsmay be downloaded via computer networks such as the Internet, Intranet,etc.

Referring now to the drawings, FIG. 1 illustrates a simplified systemdiagram for a machine employing a guidance controller according to oneor more embodiments of the invention. As shown in FIG. 1, system 100includes guidance controller 105 which may be configured to provideguidance data for machine 110. Guidance data may be provided based oncharacteristics of machine 110 and/or implement 130. In one embodiment,guidance controller 105 may be coupled to positioning receiver 115 toreceive one or more global positioning signals, shown as 135. Guidancecontroller 105 can provide positioning data and guidance data based onreceived global positioning signals 135. Machine 110 may relate to oneor more of a construction machine, earth moving machine, agriculturalmachine and machine in general. According to another embodiment, machine110 may include orientation sensor 120 configured to sense thearrangement and/or orientation of machine 110. Orientation sensor 120can provide one or more output signals to guidance controller 105 whichmay be used for guidance of machine 110. According to anotherembodiment, machine 110 may include a control component 125 to operateone or more components of the machine. By way of example, controlcomponent 125 may relate to a control valve configured to convertelectrical signals received from guidance controller 105 to commands foroperation of machine 110. It may also be appreciated that controlcomponent 125 may be utilized for one or more of steering machine 110,operating machine 110, positioning an implement and operating animplement.

Continuing to refer to system 100 of FIG. 1, machine 110 may beconfigured to support one or more implements. As shown in FIG. 1,machine 110 may be coupled to implement 130. Guidance controller 105 maybe configured to provide one or more guidance controls based on acharacteristic of implement 130. Guidance controls and guidance dataprovided by guidance controller 105 may be based on one or morecalibration parameters of guidance controller 105. As used herein, acalibration parameter may relate to an adjustable quantity for governingan aspect for which guidance is provided for machine 110. By way ofexample, a calibration parameter may relate to one or more of a turningradius, steering parameter, angle of wheel turn per revolution, steeringaggressiveness, wheel base, etc. According to another embodiment,guidance controller 105 may be configured to detect one or more ofguidance sensor 120, control valve 125 and implement 130 by a wiredand/or wireless link. In one embodiment, guidance controller 105 may beinteroperated with one or more machine types. When moved to a newmachine, guidance controller 105 can configure one or more calibrationparameters based on the machine. While machine 110 is shown as atractor, it may be appreciated that machine 110 may relate to othertypes of machines in general.

Referring now to FIG. 2, a system diagram is shown for anotherembodiment of the system of FIG. 1. As shown in FIG. 2, machine 205(e.g., machine 110) is coupled to implement 210. In one embodiment,machine 205 can provide power for implement 210. Implement 210 is shownas a pull-behind planter. It may be appreciated that implement 210 mayrelate to other types of implements, such as planters, field preparationimplements, harvesting implements, grading and/or spraying. According toone embodiment, a guidance controller (e.g., guidance controller 105)may be configured to provide guidance information for machine 205 basedon one or more of a characteristic of machine 205, characteristic ofimplement 210 and location associated with one of machine 205 andimplement 210. It may be appreciated that location data may be sensed byone or more of GPS receivers 215 a-215 b (e.g., positioning receiver115). The guidance controller can communicate with receivers 215 a-215 bto receive location data associated with machine 205 and/or implement210.

Referring now to FIG. 3, a simplified block diagram is shown of aguidance controller which may be employed by the system of FIG. 1,according to one embodiment of the invention. As shown in FIG. 3,guidance controller 300 (e.g., guidance controller 105) includesprocessor 305 which may be configured for one or more of providingguidance data, configuring calibration parameters, configuring guidanceparameters and machine guidance in general. As used herein, a guidanceparameter may relate to one or more parameters which may be utilized todirect machine operation. Processor 305 may provide guidance informationto an operator of a machine (e.g., machine 110) using display 310.Processor 305 can be any type of processor, such as a microprocessor,field programmable gate array (FPGA) and/or application specificintegrated circuit (ASIC). It may also be appreciated that data receivedby processor 305 may be stored in memory 335. Memory 335 may be any typeof memory, such as ROM and RAM memory. It may also be appreciated thatmemory 335 may be configured to store machine records for passage data,path data, machine characteristics, implement characteristics and/orfield data.

In one embodiment, guidance controller 300 may be configured to receiveposition data by positioning input 315. Positioning input 315 may becoupled to a positioning receiver (e.g., positioning receiver 115)providing positioning data related to one or more of global navigationsatellite system (GNSS) data, global positioning system (GPS) data andgeo-spatial positioning data in general. Guidance controller 300 mayutilize input/output interface (I/O) 320 to communicate with machinecomponents and/or implements. According to another embodiment, guidancecontroller 300 may include implement sensor 325 to detect one or moreimplements (e.g., implement 130) coupled to a machine (e.g., machine110). Implement sensor 325 may be configured to detect implements over awired and/or wireless link. By way of example, implement sensor 325 maybe configured to detect an implement by one or more of radio frequencyidentification (RFID), direct cable connection, an IEEE 802.11xstandard, Bluetooth® standard and a communication link in general.

According to another embodiment, guidance controller 300 may include anoptional orientation sensor 330 configured to sense the orientation of amachine (e.g., machine 110). Optional orientation sensor 330 may beconfigured to provide one or more signals to processor 305 to correctfor position of the machine. For example, in certain embodiments,processor 305 may be configured to correct for machine roll, machinepitch and/or machine yaw which may affect a determined location of themachine. It may also be appreciated that guidance controller 300 mayreceive similar correction data from a machine orientation sensor (e.g.,orientation sensor 120) coupled to I/O interface 320. In one embodiment,guidance controller 300 may be a stand alone device which may beconfigurable for a plurality of machines. It may also be appreciatedthat guidance controller 300 may be integrated with one or morecomponents of a machine (e.g., machine 105).

Referring now to FIG. 4, process 400 is shown for configuring guidancecontrollers according to one or more embodiments of the invention.Process 400 may be initiated by a guidance controller (e.g., guidancecontroller 105) detecting an implement coupled to a machine at block405. In one embodiment, the guidance controller can detect the implementover one of a wired and wireless link. A characteristic of the implementmay be determined by the guidance controller which affects a calibrationparameter of the guidance controller at block 410. For example, thecharacteristic of the implement can relate to one or more of a physicaldimension, physical off-set, identification, number of planting rows,range of maneuverability, speed constraint, swath width, operationalreach of the implement serial number, application rate selection controlcapability, seed density, fertilizer density, population sensorcalibration, tank size, seed delivery mechanism, blockage sensorcalibration, number of channels and seed variety. At block 415, thecalibration parameter of the guidance controller may be configuredbased, at least in part, on the characteristic of the implement. In oneembodiment, the calibration parameter can relate to one or more ofturning radius, compensation for slope in steering, angle of wheel turnper revolution, aggressiveness in steering, wheel base, front wheelsteering, rear wheel steering and speed limit. According to anotherembodiment, the guidance controller can output a steering control signalbased on the characteristic of the implement determined at block 410.

At block 420, the guidance controller can control an operational path ofthe machine and implement based on the calibration parameter.Controlling the operational path can comprise guiding a machine along apath setting as will be described in more detail with respect to FIG. 8below. Process 400 may further include identifying a machine, detectinga characteristic of the machine and configuring a calibration parameterof the guidance controller based on a characteristic of the machine.According to another embodiment, process 400 may include the guidancecontroller determining an estimated time for completion of theoperational path.

Referring now to FIG. 5, process 500 is shown for providing guidancecontrol for a machine (e.g., machine 110) according to one or moreembodiments of the invention. Process 500 may be initiated by a guidancecontroller (e.g., guidance controller 105) detecting an implementcoupled to a machine (e.g., machine 110) at block 505. In oneembodiment, the guidance controller can detect the implement over one ofa wired and wireless link. A characteristic of the implement whichaffects a control setting of the machine may be determined at block 510.According to one embodiment, the characteristic of the implement relatesto one or more of a physical dimension, weight, physical off-set,identification, number of planting rows, range of maneuverability, speedconstraint, swath width, operational reach of the implement serialnumber, application rate selection control capability, seed density,fertilizer density, population sensor calibration, tank size, seeddelivery mechanism, blockage sensor calibration, number of channels andseed variety. A control setting of the machine may be configured by theguidance controller based, at least in part, on the characteristic ofthe implement at block 515. The control setting may relate to controlsettings for one or more of machine steering, compensating machinemovement, operation of the implement, positioning of the implement andcontrol of machine speed. Further, the guidance controller may output asteering control signal based on the characteristic of the implement.The guidance controller can control operation of the machine and theimplement based on the control setting at block 520. According to oneembodiment, controlling operation based on a control setting maycomprise converting electrical control signals to hydraulic commands.Process 500 may further include detecting a movement characteristic ofthe machine and configuring the control setting to compensate for themovement characteristic of the machine. In another embodiment, one ormore of electrical power, hydraulic power and/or rotational power may beapplied to the implement based on the control setting.

In another embodiment, it may also be appreciated that process 500 maybe initiated when a guidance controller (e.g., guidance controller 105)is moved from one machine (e.g., machine 110) to another. For example,when the guidance machine is moved from a tractor used for planting acrop to a combine which will harvest the crop, process 500 may beemployed.

Referring now to FIG. 6, process 600 is shown for location basedconfiguration of a guidance controller (e.g., guidance controller 105)according to one or more embodiments of the invention. Process 600 maybe initiated by a guidance controller detecting an implement coupled toa machine (e.g., machine 110) at block 605. Location data may bedetected for the machine by the guidance controller at block 610. In oneembodiment, location data may relate to at least one of globalnavigation satellite system (GNSS) data, global positioning system (GPS)data and geo-spatial positioning data in general. According to oneembodiment, a characteristic of the location which affects a calibrationparameter of the guidance controller may be determined at block 615. Thecharacteristic of the location can relate to one or more of a terraintype, terrain slope, soil density, soil hardness, type of vegetation andobstructions. The calibration parameter of the guidance controller maybe configured based, at least in part, on the characteristic of thelocation at block 620. According to another embodiment, the calibrationparameter may relate to one or more of turning radius, compensation forslope in steering, angle of wheel turn per revolution, aggressiveness insteering, wheel base, front wheel steering, rear wheel steering, speedlimit, torque, power for implement, implement positioning, hydraulicsystem characteristics, machine geometry, antenna height, antenna offsetand steering geometry. Operation of the machine and implement may becontrolled based on the calibration parameter at block 625. Controloperation may relate to guiding a machine along a path setting,converting electrical control signals to hydraulic commands and/orconfiguring the control setting to compensate for the movementcharacteristic of the machine. Process 600 may further includeoutputting a steering control signal by the guidance controller based onthe characteristic of the implement.

Referring now to FIG. 7, a process is shown for configuring a guidancecontroller according to one or more embodiments of the invention.Process 700 may be initiated by a guidance controller (e.g., guidancecontroller 105) detecting a location of a machine (e.g., machine 110) atblock 705. At block 710, the guidance controller can determine theorientation of the machine. In certain embodiments, receivers mayproduce an offset position measurement for machines operating on slopesdue to an angular orientation of the machine. Similar offsets forposition of an implement (e.g., implement 130) may occur due to terrain.The guidance controller may utilize one or more output signals from anorientation sensor (e.g., orientation sensor 120) to correct foroffsets. A guidance controller can determine if position data requirescorrection at block 715. Determining if position data requirescorrection at block 715 may be based on a predetermined threshold. Theguidance controller can determine an amount of offset based on an angleof the machine, including roll, pitch and yaw angle. Further, due toangular tilt of the machine, a positioning receiver (e.g., positioningreceiver 115) of the machine may be offset due to an angle of themachine. When the guidance controller determines that correction isrequired (e.g., “Yes” path out of block 715), the guidance controllercan correct machine position at block 720. By way of example, positioncorrection by the guidance controller at block 720 may compriserecalculating a central position of the machine. According to anotherembodiment, the controller may further be configured to correctpositioning of an implement. For example, the guidance controller candetermine if positioning of an implement and/or calibration parametersshould be corrected. Correction of calibration parameters may improveperformance and/or reduce wear. However, when position correction is notrequired (e.g., “No” path out of block 720), the guidance controller candetermine if parameters of the guidance controller require configurationat block 725.

In one embodiment, when the guidance controller determines thatparameters require configuration (e.g., “Yes” path out of block 725),parameters of the guidance controller may be configured at block 730.For example, calibration parameters of the guidance controller, guidanceparameters of an implement and/or configuration of a control valve(e.g., control component 125) may be configured at block 730. It may beappreciated that parameters may be configured dynamically at block 730.When parameters of the guidance controller do not require configuring(e.g., “No” path out of block 725), the guidance controller can controlthe machine at block 735. To that end, parameters for a guidancecontroller may be configured during operation of a machine. It may beadvantageous for control parameters of components of the machine to beadjusted by process 700 to optimize implement functions and in someinstances reduce wear of the machine and/or implement.

Referring now to FIG. 8, exemplary operational paths are shown accordingto one or more embodiments of the invention. In one embodiment, aguidance controller (e.g., guidance controller 105) can provideoperational data and/or control signals for guidance of a machine (e.g.,machine 110) according to one or more guidance paths. As shown in FIG.8, exemplary guidance paths provided by the guidance controller relateto one or more of a headland path 805, multi-headland path 810, pivotpath 815, A+ pattern path 820, A−B pattern path 825, identical curvepath 830 and adaptive curve path 835. It should be appreciated thatother path types may similarly be provided by a guidance controller(e.g., guidance controller 105). Further, paths shown in FIG. 8 may beprovided by the guidance controller based on terrain obstructions.

Referring now to FIG. 9, a graphical representation is shown of aguidance controller which may be employed by the system of FIG. 1. Asshow in FIG. 9, guidance controller 900 (e.g., guidance controller 105)may include a display 905 (e.g., display 310), light bar 910 and userterminals 915. In one embodiment, display 905 may be utilized toillustrate a desired path of the machine, previous pass data of themachine, upcoming turn indications, time to turn, changes inconfigurations for calibration and/or guidance parameters. According toanother embodiment, display 905 may relate to a touch screen displaywhich an operator of the machine (e.g., machine 110) may use to entercommands. Light bar 910 can provide visual feedback of machine path andsteering information. Input terminals 915 of the guidance controller 900may be utilized by an operator to input commands and controllernavigation functions. In yet another embodiment, guidance controller 900may be configured to interoperate with mapping applications.

Referring now to FIG. 10, a graphical representation is shown of guidedmachine control according to one or more embodiments of the invention.As shown in FIG. 10, machine 1005 (e.g., machine 110) and implement 1010(e.g., implement 115) may be guided by a guidance controller (e.g.,guidance controller 105) to have an operational path which covers swath1015. According to one embodiment of the invention, the guidancecontroller may be configured to provide one or more instructions and/orvisual cues to an operator of machine 1005 such that the machine canturn 180 degrees as shown by 1020. Machine maneuvering provided by theguidance controller may allow for a pass-to-pass variations shown as1025. In one embodiment of the invention, pass-to-pass variation 1025may relate to a range of 1″-8″ year-to-year variation. In that fashion,repeatability of machine control may maximize efficiency and coverage ofimplement.

While certain exemplary embodiments have been described and shown in theaccompanying drawings, it is to be understood that such embodiments aremerely illustrative of and not restrictive on the broad invention, andthat this invention not be limited to the specific constructions andarrangements shown and described, since various other modifications mayoccur to those ordinarily skilled in the art. Trademarks and copyrightsreferred to herein are the property of their respective owners.

1. A method for providing guidance control for machines, the methodcomprising the acts of: detecting an implement, by a guidancecontroller, coupled to a machine; determining a characteristic of theimplement which affects a control setting of the machine; configuringthe control setting of the machine by the guidance controller based, atleast in part, on the characteristic of the implement; and controllingoperation of the machine based on the control setting.
 2. The method ofclaim 1, wherein detecting the implement by the guidance controllercomprises detecting the implement over one of a wired and wireless link.3. The method of claim 1, wherein the characteristic of the implementrelates to one or more of a physical dimension, weight, physicaloff-set, identification, number of planting rows, range ofmaneuverability, speed constraint, swath width and operational reach ofthe implement.
 4. The method of claim 1, wherein the control settingrelates to control settings for one or more of machine steering,compensating machine movement, operation of the implement, positioningof the implement and control of machine speed.
 5. The method of claim 1,wherein controlling operation comprises converting electrical controlsignals to hydraulic commands.
 6. The method of claim 1, furthercomprising detecting movement characteristic of the machine andconfiguring the control setting to compensate for the movementcharacteristic of the machine.
 7. The method of claim 1, furthercomprising applying power to the implement based on the control setting.8. The method of claim 8, wherein power relates to one or more ofelectrical power, hydraulic power, rotational power and power ingeneral.
 9. The method of claim 1, further comprising outputting asteering control signal by the guidance controller based on thecharacteristic of the implement.
 10. A system comprising: a machine; animplement coupled to the machine; and a guidance controller configurableto interoperate with the machine and implement, the server configuredto: detect the implement; determine a characteristic of the implementwhich affects a control setting of the machine; configure the controlsetting of the machine based, at least in part, on the characteristic ofthe implement; and controlling operation of the machine based on thecontrol setting.
 11. The system of claim 10, wherein detecting theimplement by the guidance controller comprises detecting the implementover one of a wired and wireless link.
 12. The system of claim 10,wherein the characteristic of the implement relates to one or more of aphysical dimension, weight, physical off-set, identification, number ofplanting rows, range of maneuverability, speed constraint, swath widthand operational reach of the implement.
 13. The system of claim 10,wherein the control setting relates to control settings for one or moreof machine steering, compensating machine movement, operation of theimplement, positioning of the implement and control of machine speed.14. The system of claim 10, wherein controlling operation comprisesconverting electrical control signals to hydraulic commands.
 15. Thesystem of claim 10, further comprising detecting movement characteristicof the machine and configuring the control setting to compensate for themovement characteristic of the machine.
 16. The system of claim 10,further comprising applying power to the implement based on the controlsetting.
 17. The system of claim 16, wherein power relates to one ormore of electrical power, hydraulic power, rotational power and power ingeneral.
 18. The system of claim 10, further comprising outputting asteering control signal by the guidance controller based on thecharacteristic of the implement.
 19. The system of claim 10, wherein themachine relates to one or more of an earthmoving machine, agriculturalmachine, vehicle, construction machine and machine in general having animplement.
 20. The system of claim 10, wherein the implement relates toone of a grader, sprayer, land preparation, planter, pull-behindimplement, combine, trailer and implement in general.
 21. A computerprogram product comprising: a computer readable medium having computerexecutable program code embodied therein to configure guidancecontrollers, the computer executable program product having; computerexecutable program code to detect an implement, by a guidancecontroller, coupled to a machine; computer executable program code todetermine a characteristic of the implement which affects a controlsetting of the machine; computer executable program code to configurethe control setting of the machine by the guidance controller based, atleast in part, on the characteristic of the implement; and computerexecutable program code to control operation of the machine based on thecontrol setting.